├── .clang-format ├── .gitignore ├── .gitmodules ├── LICENCE ├── README.md ├── camera_models ├── CMakeLists.txt ├── camera_calib_example │ ├── calibrationdata │ │ ├── left-0000.png │ │ ├── left-0001.png │ │ ├── left-0002.png │ │ ├── left-0003.png │ │ ├── left-0004.png │ │ ├── left-0005.png │ │ ├── left-0006.png │ │ ├── left-0007.png │ │ ├── left-0008.png │ │ ├── left-0009.png │ │ ├── left-0010.png │ │ ├── left-0011.png │ │ ├── left-0012.png │ │ ├── left-0013.png │ │ ├── left-0014.png │ │ ├── left-0015.png │ │ ├── left-0016.png │ │ ├── left-0017.png │ │ ├── left-0018.png │ │ ├── left-0019.png │ │ ├── left-0020.png │ │ ├── left-0021.png │ │ ├── left-0022.png │ │ ├── left-0023.png │ │ ├── left-0024.png │ │ ├── left-0025.png │ │ ├── left-0026.png │ │ ├── left-0027.png │ │ ├── left-0028.png │ │ ├── left-0029.png │ │ ├── left-0030.png │ │ ├── left-0031.png │ │ ├── left-0032.png │ │ ├── left-0033.png │ │ ├── left-0034.png │ │ ├── left-0035.png │ │ ├── left-0036.png │ │ ├── left-0037.png │ │ ├── left-0038.png │ │ ├── left-0039.png │ │ ├── left-0040.png │ │ ├── left-0041.png │ │ ├── left-0042.png │ │ ├── left-0043.png │ │ ├── left-0044.png │ │ ├── left-0045.png │ │ ├── left-0046.png │ │ ├── left-0047.png │ │ ├── left-0048.png │ │ ├── left-0049.png │ │ ├── left-0050.png │ │ ├── left-0051.png │ │ ├── left-0052.png │ │ ├── left-0053.png │ │ ├── left-0054.png │ │ ├── left-0055.png │ │ ├── left-0056.png │ │ ├── left-0057.png │ │ ├── left-0058.png │ │ ├── left-0059.png │ │ ├── left-0060.png │ │ ├── left-0061.png │ │ ├── left-0062.png │ │ ├── left-0063.png │ │ ├── left-0064.png │ │ ├── left-0065.png │ │ ├── left-0066.png │ │ ├── left-0067.png │ │ ├── left-0068.png │ │ ├── left-0069.png │ │ ├── left-0070.png │ │ ├── left-0071.png │ │ ├── left-0072.png │ │ ├── left-0073.png │ │ ├── left-0074.png │ │ ├── left-0075.png │ │ ├── left-0076.png │ │ ├── left-0077.png │ │ ├── left-0078.png │ │ ├── left-0079.png │ │ ├── left-0080.png │ │ ├── left-0081.png │ │ ├── left-0082.png │ │ ├── left-0083.png │ │ └── left-0084.png │ └── readme.txt ├── cmake │ └── FindEigen.cmake ├── include │ └── camodocal │ │ ├── calib │ │ └── CameraCalibration.h │ │ ├── camera_models │ │ ├── Camera.h │ │ ├── CameraFactory.h │ │ ├── CataCamera.h │ │ ├── CostFunctionFactory.h │ │ ├── EquidistantCamera.h │ │ ├── PinholeCamera.h │ │ ├── PinholeFullCamera.h │ │ └── ScaramuzzaCamera.h │ │ ├── chessboard │ │ ├── Chessboard.h │ │ ├── ChessboardCorner.h │ │ ├── ChessboardQuad.h │ │ └── Spline.h │ │ ├── gpl │ │ ├── EigenQuaternionParameterization.h │ │ ├── EigenUtils.h │ │ └── gpl.h │ │ └── sparse_graph │ │ └── Transform.h ├── package.xml ├── readme.md └── src │ ├── calib │ └── CameraCalibration.cc │ ├── camera_models │ ├── Camera.cc │ ├── CameraFactory.cc │ ├── CataCamera.cc │ ├── CostFunctionFactory.cc │ ├── EquidistantCamera.cc │ ├── PinholeCamera.cc │ ├── PinholeFullCamera.cc │ └── ScaramuzzaCamera.cc │ ├── chessboard │ └── Chessboard.cc │ ├── gpl │ ├── EigenQuaternionParameterization.cc │ └── gpl.cc │ ├── intrinsic_calib.cc │ └── sparse_graph │ └── Transform.cc ├── config ├── cdd │ ├── S1_01.yaml │ ├── S1_02.yaml │ ├── S2_01.yaml │ ├── S2_02.yaml │ ├── cam.yaml │ ├── cam_450p.yaml │ ├── dark.yaml │ ├── mirror.yaml │ ├── stereo.yaml │ └── stereo_450p.yaml ├── euroc │ ├── V1_01.yaml │ ├── V1_02.yaml │ ├── V1_03.yaml │ ├── V2_01.yaml │ ├── V2_02.yaml │ ├── V2_03.yaml │ ├── cam0_mei.yaml │ ├── cam0_pinhole.yaml │ ├── cam1_mei.yaml │ ├── cam1_pinhole.yaml │ ├── cam_pinhole.yaml │ ├── euroc_mono_imu_config.yaml │ └── euroc_stereo_config.yaml ├── extrinsic_parameter_example.pdf ├── fisheye_mask.jpg ├── fisheye_mask_752x480.jpg ├── kitti_odom │ ├── cam00-02.yaml │ ├── cam03.yaml │ ├── cam04-12.yaml │ ├── cam13-21.yaml │ ├── kitti_config00-02.yaml │ ├── kitti_config03.yaml │ ├── kitti_config04-12.yaml │ └── kitti_config13-21.yaml ├── kitti_raw │ ├── cam_09_30.yaml │ ├── cam_10_03.yaml │ ├── kitti_09_30_config.yaml │ └── kitti_10_03_config.yaml └── vins_rviz_config.rviz ├── docker ├── Dockerfile ├── Makefile └── run.sh ├── global_fusion ├── CMakeLists.txt ├── ThirdParty │ └── GeographicLib │ │ ├── CMakeLists.txt │ │ ├── include │ │ ├── Config.h │ │ ├── Constants.hpp │ │ ├── Geocentric.hpp │ │ ├── LocalCartesian.hpp │ │ └── Math.hpp │ │ └── src │ │ ├── Geocentric.cpp │ │ ├── LocalCartesian.cpp │ │ └── Math.cpp ├── models │ ├── car.dae │ └── hummingbird.mesh ├── package.xml └── src │ ├── Factors.h │ ├── globalOpt.cpp │ ├── globalOpt.h │ ├── globalOptNode.cpp │ └── tic_toc.h ├── loop_fusion ├── CMakeLists.txt ├── cmake │ └── FindEigen.cmake ├── package.xml └── src │ ├── ThirdParty │ ├── DBoW │ │ ├── BowVector.cpp │ │ ├── BowVector.h │ │ ├── DBoW2.h │ │ ├── FBrief.cpp │ │ ├── FBrief.h │ │ ├── FClass.h │ │ ├── FeatureVector.cpp │ │ ├── FeatureVector.h │ │ ├── QueryResults.cpp │ │ ├── QueryResults.h │ │ ├── ScoringObject.cpp │ │ ├── ScoringObject.h │ │ ├── TemplatedDatabase.h │ │ └── TemplatedVocabulary.h │ ├── DUtils │ │ ├── DException.h │ │ ├── DUtils.h │ │ ├── Random.cpp │ │ ├── Random.h │ │ ├── Timestamp.cpp │ │ └── Timestamp.h │ ├── DVision │ │ ├── BRIEF.cpp │ │ ├── BRIEF.h │ │ └── DVision.h │ ├── VocabularyBinary.cpp │ └── VocabularyBinary.hpp │ ├── keyframe.cpp │ ├── keyframe.h │ ├── parameters.h │ ├── pose_graph.cpp │ ├── pose_graph.h │ ├── pose_graph_node.cpp │ └── utility │ ├── CameraPoseVisualization.cpp │ ├── CameraPoseVisualization.h │ ├── tic_toc.h │ ├── utility.cpp │ └── utility.h ├── noise_adder ├── CMakeLists.txt ├── launch │ ├── big_noise.launch │ └── small_noise.launch ├── package.xml └── src │ └── noise_adder_node.cpp ├── prior_fusion ├── CMakeLists.txt ├── include │ ├── factors.h │ └── prior_opt.h ├── launch │ └── fusion.launch ├── package.xml └── src │ ├── prior_opt.cpp │ └── prior_opt_node.cpp ├── prior_locate ├── CMakeLists.txt ├── include │ ├── frames.h │ └── locater.h ├── launch │ └── locate.launch ├── package.xml └── src │ ├── depth_frame.cpp │ ├── locater.cpp │ ├── ndt_frame.cpp │ └── prior_locate_node.cpp ├── support_files ├── brief_k10L6.bin ├── brief_pattern.yml ├── image │ ├── car.png │ ├── car_gif.gif │ ├── euroc.gif │ ├── kitti.gif │ ├── kitti.png │ ├── kitti_rank.png │ ├── vins.png │ ├── vins_black.png │ └── vins_logo.png └── paper_bib.txt ├── tools ├── backtrace.dump ├── euroc_rect │ ├── CMakeLists.txt │ ├── euroc.yaml │ └── src │ │ └── euroc_rect.cpp ├── evaluate.sh ├── extract_gt_traj.py ├── multi_msckf.sh └── multi_trials.sh ├── utils ├── path.json ├── publish_gicp_path.py └── record_gicp_path.py └── vins_estimator ├── CMakeLists.txt ├── cmake └── FindEigen.cmake ├── launch ├── vins.launch ├── vins_all.launch └── vins_rviz.launch ├── package.xml └── src ├── KITTIGPSTest.cpp ├── KITTIOdomTest.cpp ├── estimator ├── estimator.cpp ├── estimator.h ├── feature_manager.cpp ├── feature_manager.h ├── parameters.cpp └── parameters.h ├── factor ├── imu_factor.h ├── initial_bias_factor.h ├── initial_pose_factor.h ├── integration_base.h ├── marginalization_factor.cpp ├── marginalization_factor.h ├── pose_local_parameterization.cpp ├── pose_local_parameterization.h ├── projectionOneFrameTwoCamFactor.cpp ├── projectionOneFrameTwoCamFactor.h ├── projectionTwoFrameOneCamFactor.cpp ├── projectionTwoFrameOneCamFactor.h ├── projectionTwoFrameTwoCamFactor.cpp ├── projectionTwoFrameTwoCamFactor.h ├── projection_factor.cpp └── projection_factor.h ├── featureTracker ├── feature_tracker.cpp └── feature_tracker.h ├── initial ├── initial_aligment.cpp ├── initial_alignment.h ├── initial_ex_rotation.cpp ├── initial_ex_rotation.h ├── initial_sfm.cpp ├── initial_sfm.h ├── solve_5pts.cpp └── solve_5pts.h ├── rosNodeTest.cpp └── utility ├── CameraPoseVisualization.cpp ├── CameraPoseVisualization.h ├── gt_visualization.cpp ├── gt_visualization.h ├── tic_toc.h ├── utility.cpp ├── utility.h ├── visualization.cpp └── visualization.h /.clang-format: -------------------------------------------------------------------------------- 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